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1 Subset of the Technical Paper Technical Committee 2 Task Force Function locks for motion control: Part 4 Coordinated Motion Version 1.0, Published Appendix I Compliance Procedure and Compliance List DISCLAIMR OF WARATIS THIS DOCUMT IS PROVIDD O A AS IS ASIS AD MAY SUJCT TO FUTUR ADDITIOS, MODIFICATIOS, OR CORRCTIOS. PLCOP HRY DISCLAIMS ALL WARRATIS OF AY KID, XPRSS OR IMPLID, ICLUDIG AY WARRATY OF MRCHATAILITY OR FITSS FOR A PARTICULAR PURPOS, FOR THIS DOCUMT. I O VT WILL PLCOP RSPOSIL FOR AY LOSS OR DAMAG ARISIG OUT OR RSULTIG FROM AY DFCT, RROR OR OMISSIO I THIS DOCUMT OR FROM AYO S US OF OR RLIAC O THIS DOCUMT. Copyright by. All rights reserved. Date: December 3, 2008 Total number of pages: 21

2 Appendix 1. Compliance Procedure and Compliance List Listed in this Appendix are the requirements for the compliance statement from the supplier of the Motion Control Function locks. The compliance statement consists of two main groups: supported data types (see Appendix 1.2 Supported Data types) and supported Function locks, in combination with the applicable inputs and outputs see (Appendix 1.2 Supported Data types and its paragraphs). The supplier is required fill out the tables for the used data types and Function locks, according to their product, committing their support to the specification. y submitting these tables to, and after approval by, the list will be published on the website, as well as a shortform overview, as specified in Appendix 1.5 Short overview of the Functions locks. In addition to this approval, the supplier is granted access and usage rights of the Motion Control logo, as described in chapter Appendix 1.6 The Motion Control Logo and Its Usage. Data types The data type RAL listed in the Function locks and parameters (e.g. for velocity, acceleration, distance, etc.) may be exchanged to SIT, IT, DIT or LRAL without to be seen as incompliant to this standard, as long as they are consistent for the whole set of Function locks and parameters. Implementation allows the extension of data types as long as the basic data type is kept. For example: WORD may be changed to DWORD, but not to RAL. Function locks and Inputs and Outputs An implementation which claims compliance with this specification shall offer a set of Function locks for motion control, meaning one or more Function locks, with at least the basic input and output variables, marked as in the tables. These inputs and outputs have to be supported to be compliant. For higher-level systems and future extensions any subset of the extended input and output variables, marked as in the tables can be implemented. Vendor specific additions are marked with V, and can be listed as such in the supplier documentation. - asic input/output variables are mandatory Marked in the tables with the letter - xtended input /output variables are optional Marked in the tables with the letter - Vendor Specific additions Marked in the vendor s compliance documentation with V All the vendor specific items will not be listed in the comparison table on the website, but in the detailed vendor specific list, which also is published. All vendor specific in- and outputs of all Fs must be listed in the certification list of the supplier. With this, the certification listing from a supplier describes all the I/Os of the relevant Fs, including vendor-specific extensions, and thus showing the complete Fs as used by the supplier. TC2 - Task Force Motion Control December 3, Part 4 Coordinated Motion V 1.0 page 2/ 21

3 Appendix 1.1. Statement of Supplier Supplier name KUKA Roboter GmbH Supplier address Zugspitzstraße 140 City Augsburg Country Germany Telephone Fax +49 (821) mail address Product ame KUKA.PLC mxautomation Product version V2.1 Release date I hereby state that the following tables as filled out and submitted do match our product as well as the accompanying user manual, as stated above. ame of representation (person): Philipp Kremer Date of signature (dd/mm/yyyy): Signature: TC2 - Task Force Motion Control December 3, Part 4 Coordinated Motion V 1.0 page 3/ 21

4 Appendix 1.2. Supported Data types Defined datatypes with MC library: Supported If not supported, which datatype used OOL Y IT Y WORD Y RAL Y UM Y Table 1:Supported datatypes Within the specification the following derived datatypes are defined. Which structure is used in this system: Derived datatypes: Where used Supported Which structure AXS_GROUP_RF early all Fs Y AxisGroupIdx [IT] IDT_I_GROUP_RF MC_AddAxisToGroup MC_RemoveAxisFromGroup MC_UFFR_MOD In all buffered Fs Y Queuemode [IT16] MC_KI_RF MC_SetKinTransform MC_ReadKinTransform MC_XCUTIO_MOD MC_SetKinTransform MC_COORD_RF MC_SetCoordinateTransformation MC_GROUP_UFFR_MOD MC_MoveLinearAbsolute MC_MoveCircularAbsolute MC_TRASITIO_MOD MC_MoveLinearAbsolute MC_MoveLinearRelative MC_MoveCircularAbsolute MC_MoveCircularRelative MC_CIRC_PATHCHOIC MC_MoveCircularAbsolute MC_PATH_DATA_RF MC_PATH_RF Appendix 1.3. MC_MoveCircularRelative MC_PathSelect MC_MovePath Table 2: Supported derived datatypes Supported uffer Modes o. MC_UFFR_MOD Supported 0 Aborting Y 1 uffered Y 2 lendinglow 3 lendingprevious 4 lendingext 5 lendinghigh Table 3: Overview of buffer modes Appendix 1.4. Supported Transition Modes o. MC_TRASITIO_MOD Supported 0 TMone 1 TMMaxVelocity 2 TMDefinedVelocity 3 TMCornerDistance 4 TMMaxCornerDeviation 5-9 Reserved by 10 - Supplier specific modes Table 4: Overview of available transition modes TC2 - Task Force Motion Control December 3, Part 4 Coordinated Motion V 1.0 page 4/ 21

5 Appendix 1.5. Short overview of the Function locks Coordinated Function locks Supported Yes / o Comments (<= 48 char.) MC_AddAxisToGroup MC_RemoveAxisFromGroup MC_UngroupAllAxes MC_GroupReadConfiguration MC_Groupnable MC_GroupDisable MC_GroupHome MC_SetKinTransform MC_SetCartesianTransform MC_SetCoordinateTransform MC_ReadKinTransform MC_ReadCartesianTransform MC_ReadCoordinateTransform MC_GroupSetPosition MC_GroupReadActualPosition MC_GroupReadActualVelocity MC_GroupReadActualAcceleration MC_GroupStop MC_GroupHalt MC_GroupInterrupt MC_GroupContinue MC_GroupReadStatus MC_GroupReadrror MC_GroupReset MC_MoveLinearAbsolute Y MC_MoveLinearRelative Y MC_MoveCircularAbsolute Y MC_MoveCircularRelative Y MC_MoveDirectAbsolute Y MC_MoveDirectRelative Y MC_PathSelect MC_MovePath MC_GroupSetOverride Coordinated Supported Yes / o Comments (<= 48 char.) MC_SyncAxisToGroup MC_SyncGroupToAxis MC_SetDynCoordTransform MC_TrackConveyorbelt MC_TrackRotaryTable Table 5: Short overview of the Function locks TC2 - Task Force Motion Control December 3, Part 4 Coordinated Motion V 1.0 page 5/ 21

6 Appendix A 5.1. MC_AddAxisToGroup If Supported MC_AddAxisToGroup Sup.Y/ Comments VAR_I_OUT VAR_IPUT Axis xecute IdentInGroup usy rror rrorid Appendix A 5.2. MC_RemoveAxixFromGroup If Supported MC_RemoveAxisFromGroup Sup.Y/ Comments VAR_I_OUT VAR_IPUT xecute IdentInGroup usy rror rrorid Appendix A 5.3. MC_UngroupAllAxes If Supported MC_UngroupAllAxes Sup.Y/ Comments VAR_I_OUT VAR_IPUT xecute usy rror rrorid Appendix A 5.4. MC_GroupReadConfiguration If Supported MC_GroupReadConfiguration Sup.Y/ Comments VAR_I_OUT VAR_IPUT nable IdentInGroup Axis Valid usy rror rrorid TC2 - Task Force Motion Control December 3, Part 4 Coordinated Motion V 1.0 page 6/ 21

7 Appendix A 5.5. MC_Groupnable If Supported MC_Groupnable Sup.Y/ Comments VAR_I_OUT VAR_IPUT xecute usy rror rrorid Appendix A 5.6. MC_GroupDisable If Supported MC_GroupDisable Sup.Y/ Comments VAR_I_OUT VAR_IPUT xecute usy rror rrorid Appendix A 5.7. MC_GroupHome If Supported MC_GroupHome Sup.Y/ Comments VAR_I_OUT VAR_IPUT xecute Position uffermode usy rror rrorid TC2 - Task Force Motion Control December 3, Part 4 Coordinated Motion V 1.0 page 7/ 21

8 Appendix A 5.8. MC_SetKinTransform If Supported MC_SetKinTransform Sup.Y/ Comments VAR_I_OUT VAR_IPUT xecute KinTransform xecutionmode usy rror rrorid Appendix A 5.9. MC_SetCartesianTransform If Supported MC_ SetCartesianTransform Sup.Y/ Comments VAR_I_OUT VAR_IPUT xecute TransX TransY TransZ RotAngle1 RotAngle2 RotAngle3 xecutionmode usy rror rrorid Appendix A MC_SetCoordinateTransform If Supported MC_ SetCoordinateTransform Sup.Y/ Comments VAR_I_OUT VAR_IPUT xecute CoordTransform xecutionmode usy rror rrorid TC2 - Task Force Motion Control December 3, Part 4 Coordinated Motion V 1.0 page 8/ 21

9 Appendix A MC_ReadKinTransform If Supported MC_ ReadKinTransform Sup.Y/ Comments VAR_I_OUT VAR_IPUT nable Valid usy KinTransform rror rrorid Appendix A MC_ReadCartesianTransform If Supported MC_ ReadCartesianTransform Sup.Y/ Comments VAR_I_OUT VAR_IPUT nable Valid usy TransX TransY TransZ RotAngle1 RotAngle2 RotAngle3 rror rrorid Appendix A MC_ReadCoordinateTransform If Supported MC_ ReadCoordinateTransform Sup.Y/ Comments VAR_I_OUT VAR_IPUT nable Valid usy CoordTransform rror rrorid TC2 - Task Force Motion Control December 3, Part 4 Coordinated Motion V 1.0 page 9/ 21

10 Appendix A MC_GroupSetPosition If Supported MC_ GroupSetPosition Sup.Y/ Comments VAR_I_OUT VAR_IPUT xecute Position Relative uffermode usy rror rrorid Appendix A MC_GroupReadActualPosition If Supported MC_ GroupReadActualPosition Sup.Y/ Comments VAR_I_OUT VAR_IPUT nable Valid usy rror rrorid Position Appendix A MC_GroupReadActualVelocity If Supported MC_ GroupReadActualVelocity Sup.Y/ Comments VAR_I_OUT VAR_IPUT nable Valid usy rror rrorid Velocity PathVelocity TC2 - Task Force Motion Control December 3, Part 4 Coordinated Motion V 1.0 page 10/ 21

11 Appendix A MC_GroupReadActualAcceleration If Supported MC_ GroupReadActualAcceleration Sup.Y/ Comments VAR_I_OUT VAR_IPUT nable Valid usy rror rrorid Acceleration Path Acceleration Appendix A MC_GroupStop If Supported MC_ GroupStop Sup.Y/ Comments VAR_I_OUT VAR_IPUT xecute Deceleration Jerk uffermode usy rror rrorid Appendix A MC_GroupHalt If Supported MC_ GroupHalt Sup.Y/ Comments VAR_I_OUT VAR_IPUT xecute Deceleration Jerk uffermode usy rror rrorid TC2 - Task Force Motion Control December 3, Part 4 Coordinated Motion V 1.0 page 11/ 21

12 Appendix A MC_GroupInterrupt If Supported MC_ GroupInterrupt Sup.Y/ Comments VAR_I_OUT VAR_IPUT xecute Deceleration Jerk usy Comman Aborted rror rrorid Appendix A MC_GroupContinue If Supported MC_ GroupContinue Sup.Y/ Comments VAR_I_OUT VAR_IPUT xecute usy Comman Aborted rror rrorid Appendix A MC_GroupReadStatus If Supported MC_ GroupReadStatus Sup.Y/ Comments VAR_I_OUT VAR_IPUT nable Valid usy GroupMoving GroupHoming GrouprrorStop GroupStandby GroupStopping GroupDisabled ConstantVelocity Accelerating Decelerating InPosition rror rrorid TC2 - Task Force Motion Control December 3, Part 4 Coordinated Motion V 1.0 page 12/ 21

13 Appendix A MC_GroupReadrror If Supported MC_ GroupReadrror Sup.Y/ Comments VAR_I_OUT VAR_IPUT nable Valid usy rror rrorid GrouprrorID Appendix A MC_GroupReset If Supported MC_ GroupReset Sup.Y/ Comments VAR_I_OUT VAR_IPUT xecute usy rror rrorid Appendix A MC_MoveLinearAbsolute If Supported MC_ MoveLinearAbsolute Sup.Y/ Comments VAR_I_OUT Y xtended name: AxisGroupIdx VAR_IPUT xecute Y Position Y Position is commanded as structure. Unit is [mm] Velocity Y Variable is supported as integer and reperesents a percentual value of maximum velocity Acceleration Y Variable is supported as integer and reperesents a percentual value of maximum acceleration Deceleration Deceleration is given through acceleration value Jerk Y uffermode TransitionMode TransitionParameter Y usy Y Y Y rror Y rrorid Y TC2 - Task Force Motion Control December 3, Part 4 Coordinated Motion V 1.0 page 13/ 21

14 Appendix A MC_MoveLinearRelative If Supported MC_ MoveLinearRelative Sup.Y/ Comments VAR_I_OUT Y xtended name: AxisGroupIdx VAR_IPUT xecute Y Distance Y Position is commanded as structure. Unit is [mm] Velocity Y Variable is supported as integer and reperesents a percentual value of maximum velocity Acceleration Y Variable is supported as integer and reperesents a percentual value of maximum acceleration Deceleration Deceleration is given through acceleration value Jerk Y uffermode TransitionMode TransitionParameter Y usy Y Y Y rror Y rrorid Y Appendix A MC_MoveCircularAbsolute If Supported MC_ MoveCircularAbsolute Sup.Y/ Comments VAR_I_OUT Y xtended name: AxisGroupIdx VAR_IPUT xecute Y CircMode AuxPoint Y CircHP implemented as structure ndpoint Y PathChoice Velocity Y Variable is supported as integer and reperesents a percentual value of maximum velocity Acceleration Y Variable is supported as integer and reperesents a percentual value of maximum acceleration Deceleration Deceleration is given through acceleration value Jerk Y uffermode TransitionMode TransitionParameter Y usy Y TC2 - Task Force Motion Control December 3, Part 4 Coordinated Motion V 1.0 page 14/ 21

15 Y Y rror Y rrorid Y TC2 - Task Force Motion Control December 3, Part 4 Coordinated Motion V 1.0 page 15/ 21

16 Appendix A MC_MoveCircularRelative If Supported MC_ MoveCircularRelative Sup.Y/ Comments VAR_I_OUT Y xtended name: AxisGroupIdx VAR_IPUT xecute Y CircMode AuxPoint Y CircHP implemented as structure ndpoint Y PathChoice Velocity Y Variable is supported as integer and reperesents a percentual value of maximum velocity Acceleration Y Variable is supported as integer and reperesents a percentual value of maximum acceleration Deceleration Deceleration is given through acceleration value Jerk Y uffermode TransitionMode TransitionParameter Y usy Y Y Y rror Y rrorid Y Appendix A MC_MoveDirectAbsolute If Supported MC_ MoveDirectAbsolute Sup.Y/ Comments VAR_I_OUT Y xtended name: AxisGroupIdx VAR_IPUT xecute Y Position Y Y uffermode TransitionMode TransitionParameter Y usy Y Y Y rror Y rrorid Y TC2 - Task Force Motion Control December 3, Part 4 Coordinated Motion V 1.0 page 16/ 21

17 Appendix A MC_MoveDirectRelative If Supported MC_ MoveDirectRelative Sup.Y/ Comments VAR_I_OUT Y xtended name: AxisGroupIdx VAR_IPUT xecute Y Distance Y Y uffermode TransitionMode TransitionParameter Y usy Y Y Y rror Y rrorid Y Appendix A MC_PathSelect If Supported MC_ PathSelect Sup.Y/ Comments VAR_I_OUT VAR_IPUT PathData PathDescription xecute usy rror rrorid Appendix A MC_MovePath If Supported MC_ MovePath Sup.Y/ Comments VAR_I_OUT VAR_IPUT PathData xecute uffermode TransitionMode TransitionParameter usy rror rrorid TC2 - Task Force Motion Control December 3, Part 4 Coordinated Motion V 1.0 page 17/ 21

18 Appendix A MC_GroupSetOverride If Supported MC_ GroupSetOverride Sup.Y/ Comments VAR_I_OUT VAR_IPUT nable VelFactor AccFactor JerkFactor nabled OOL usy rror rrorid Appendix A MC_SyncAxisToGroup If Supported MC_ SyncAxisToGroup Sup.Y/ Comments VAR_I_OUT VAR_IPUT SlaveAxis xecute Ratioumerator RatioDenominator Acceleration Deceleration Jerk uffermode InSync usy rror rrorid TC2 - Task Force Motion Control December 3, Part 4 Coordinated Motion V 1.0 page 18/ 21

19 Appendix A 5.35 MC_SyncGroupToAxis If Supported MC_ SyncGroupToAxis Sup.Y/ Comments VAR_I_OUT VAR_IPUT Master PathData xecute Mode TuCumerator TuCDenominator Acceleration Deceleration Jerk uffermode InSync usy rror rrorid Appendix A MC_SetDynCoordTransform If Supported MC_ SetDynCoordTransform Sup.Y/ Comments VAR_I_OUT VAR_IPUT Master CoordTransform xecute Mode uffermode usy rror rrorid TC2 - Task Force Motion Control December 3, Part 4 Coordinated Motion V 1.0 page 19/ 21

20 Appendix A MC_TrackConveyorelt If Supported MC_ TrackConveyorelt Sup.Y/ Comments VAR_I_OUT VAR_IPUT Conveyorelt xecute ConveyoreltOrigin InitialObjectPosition uffermode usy rror rrorid Appendix A MC_TrackRotaryTable If Supported MC_ TrackRotaryTable Sup.Y/ Comments VAR_I_OUT VAR_IPUT RotaryTable xecute RotaryTableOrigin InitialObjectPosition uffermode usy rror rrorid TC2 - Task Force Motion Control December 3, Part 4 Coordinated Motion V 1.0 page 20/ 21

21 Appendix 1.6. The Motion Control Logo and Its Usage For quick identification of compliant products, has developed a logo for the motion control Function locks: Figure 1: The Motion Control Logo This motion control logo is owned and trademarked by. In order to use this logo free-of-charge, the relevant company has to fulfill all the following requirements: 1. the company has to be a voting member of ; 2. the company has to comply with the existing specification, as specified by the Task Force Motion Control, and as published by, and of which this statement is a part; 3. this compliance application is provided in written form by the company to, clearly stating the applicable software package and the supporting elements of all the specified tables, as specified in the document itself; 4. in case of non-fulfillment, which has to be decided by, the company will receive a written statement concerning this from. The company will have a one month period to either adopt their software package in such a way that it complies, represented by the issuing of a new compliance statement, or remove all reference to the specification, including the use of the logo, from all their specification, be it technical or promotional material; 5. the logo has to be used as is - meaning the full logo. It may be altered in size providing the original scale and color setting is kept. 6. the logo has to be used in the context of Motion Control. TC2 - Task Force Motion Control December 3, Part 4 Coordinated Motion V 1.0 page 21/ 21